The present invention provides an improved system and method for object detection with histogram of oriented gradient (HOG) based support vector machine (SVM). Specifically, the system provides a computational framework to stably detect still or not moving objects over a wide range of viewpoints. The framework includes providing a sensor input of images which are received by the "focus of attention" mechanism to identify the regions in the image that potentially contain the target objects. These regions are further computed to generate hypothesized objects, specifically generating selected regions containing the target object hypothesis with respect to their positions. Thereafter, these selected regions are verified by an extended HOG-based SVM classifier to generate the detected objects.